• Journal of Institute of Control, Robotics and Systems
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• v.17 no.6
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• pp.531-538
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• 2011

This paper describes a novel sensor system for 3D world modeling of an autonomous vehicle in large-scale outdoor environments. When an autonomous vehicle performs path planning and path following, well-constructed 3D world model of target environment is very important for analyze the environment and track the determined path. To generate well-construct 3D world model, we develop a novel sensor system. The proposed novel sensor system consists of two 2D laser scanners, two single cameras, a DGPS (Differential Global Positioning System) and an IMU (Inertial Measurement System). We verify the effectiveness of the proposed sensor system through experiment in large-scale outdoor environment.

• Structural Engineering and Mechanics
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• v.13 no.5
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• pp.505-532
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• 2002

In this study, the analysis of high-speed vehicle-bridge interactions by a simplified 3-dimensional finite element model is performed. Since railroads are constructed mostly as double tracks, there exists eccentricity between the vehicle axle and the neutral axis of cross section of a railway bridge. Therefore, for the more efficient and accurate vehicle-bridge interaction analysis, the analysis model should include the eccentricity of axle loads and the effect of torsional forces acting on the bridge. The investigation into the influences of eccentricity of the vehicle axle loads and vehicle speed on vehicle-bridge interactions are carried out for two cases. In the first case, only one train moves on its track and in the other case, two trains move respectively on their tracks in the opposite direction. From the analysis results of an existing bridge, the efficiency and capability of the simplified 3-dimensional model for practical application can be also verified.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.63 no.1
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• pp.162-172
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• 2014

A three-dimensional dynamic model for simulating various motions of full vehicle is presented. The model has 16 independent degrees of freedom (DOF) consisting of three kinds of components; a vehicle body of 6 DOF, 4 independent suspensions equipped at every corner of the body, and 4 tire models linked with each suspension. The dynamic equations are represented in six coordinate frames such as world fixed coordinate, vehicle fixed coordinate, and four wheel fixed coordinate frames. Then these lead to the approximated prediction model of vehicle posture. Both lateral and longitudinal dynamics can be computed simultaneously under the conditions of which various inputs including steering command, driving torque, gravity, rolling resistance of tire, aerodynamic resistance, etc. are considered. It is shown through simulations that the proposed 3D model can be useful for precise design and performance analysis of any full vehicle control systems.

• Journal of KIBIM
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• v.6 no.1
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• pp.1-8
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• 2016

This paper provides a method for generating flight path of Unmanned Aerial Vehicle (UAV) that is intended to be used in visual inspection of dome-type nuclear containment building. The method basically employs 3-D model to extract accurate location coordinates. Two basic route patterns that provide guide lines in defining moving locations were defined for each side wall and dome section of the containment. The route patterns support sequential capturing of images as well. In addition, several simple equations and an algorithm for calculation of the moving location on the route were developed on the basis of 3-D geometric characteristics of the containment building. A prototype computer program has been implemented to validate the proposed method, and a case study shows the method can visualize covering area in 3-D model as well.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.69.4-69
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• 2001

In this paper, we developed a Windows 98 version of off-line programming system which can simulate a track vehicle model in 3D graphics space. The track vehicle was adopted as an objective model. The interface between users and the off-line program system in the Windows 98´s graphic user interface environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by Silicon Graphics, Inc. were utilized for 3D Graphics.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.04a
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• pp.376-380
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• 2002

In this paper, we developed a Widows 98 version off-line programming system which can simulate a track vehicle model in 3D graphics space. The track vehicle was adopted as an objective model. The interface between users and the off-line program system in the Widows 98's graphic user interface environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by Silicon Graphics, Inc. were utilized for 3D Graphics.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2004.04a
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• pp.310-316
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• 2004

In this paper, we developed a Windows XP version off-line programming system which can simulate a track vehicle model in 3D graphics space. The track vehicle was adopted as an objective model. The interface between users and the off-line program system in the Windows XP's graphic user interface environment was also studied. The developing language is Microsoft Visual C＋＋. Graphic libraries, OpenGL, by Silicon Graphics, Inc. were utilized for 3D Graphics.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2001.04a
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• pp.197-201
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• 2001

In this paper, we developed a Windows 98 version of-line programming system which can simulate a track vehicle model in 3D graphics space. The track vehicle was adopted as an objective model. The interface between users and the off-line program system in the Windows 98's graphic user interface environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by Silicon Graphics, Inc. were utilized for 3D Graphics.

• Proceedings of the KSME Conference
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• 2000.04a
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• pp.666-671
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• 2000

In this paper, we developed a Windows 95 version off-line programing system which can simulate a track vehicle model in 3D graphics space. The track vehicle was adopted as an objective model. The interface between users and the off-line program system in the Windows 95's graphic user interface environment was also studied The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by Silicon Graphics, Inc. were utilized for 3D Graphics.

• Journal of the Korean Society of Industry Convergence
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• v.7 no.2
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• pp.173-179
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• 2004

In this paper, we developed a Windows NT version off-line programming system which can simulate a track vehicle model in 3D graphics space. The track vehicle was adopted as an objective model. The interface between users and the off-line program system in the Windows NT's graphic user interface environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by Silicon Graphics, Inc. were utilized for 3D Graphics.